A thread that deals with CAN reads. More...

Inheritance diagram for roboticslab::CanReaderThread:

Public Member Functions
	CanReaderThread (const std::string &id, double delay, unsigned int bufferSize)
	Constructor.

void	registerHandle (ICanBusSharer *p)
	Map CAN node ids with handles.

const std::vector< ICanBusSharer * > &	getHandles () const
	Retrieve collection of handles to wrapped CAN devices.

void	attachCanNotifier (ICanMessageNotifier *canMessageNotifier)
	Attach custom CAN message responder handle.

void	run () override

Public Member Functions inherited from roboticslab::CanReaderWriterThread
	CanReaderWriterThread (const std::string &type, const std::string &id, double delay, unsigned int bufferSize)
	Constructor.

	~CanReaderWriterThread () override=default
	Virtual destructor.

bool	threadInit () override
	Invoked by the thread right before it is started.

void	threadRelease () override
	Invoked by the thread right after it is started.

void	beforeStart () override
	Invoked by the caller right before the thread is started.

void	afterStart (bool success) override
	Invoked by the caller right before the thread is joined.

void	onStop () override
	Callback on thread stop.

void	setCanHandles (yarp::dev::ICanBus iCanBus, yarp::dev::ICanBufferFactory iCanBufferFactory)
	Configure CAN interface handles.

void	attachDumpWriter (yarp::os::Contactable dumpPort, yarp::os::PortWriterBuffer< yarp::os::Bottle > dumpWriter, std::mutex *dumpMutex)
	Attach YARP port writer for CAN message dumping.

void	attachBusLoadMonitor (ICanMessageNotifier *busLoadMonitor)
	Attach CAN bus load monitor.

Private Attributes
std::vector< ICanBusSharer * >	handles

std::unordered_map< unsigned int, ICanBusSharer * >	canIdToHandle

ICanMessageNotifier *	canMessageNotifier

Additional Inherited Members
Static Protected Member Functions inherited from roboticslab::CanReaderWriterThread
static void	dumpMessage (const can_message &msg, yarp::os::Bottle &b)
	Dump a CAN message to a YARP bottle.

Protected Attributes inherited from roboticslab::CanReaderWriterThread
yarp::dev::ICanBus *	iCanBus

yarp::dev::ICanBufferFactory *	iCanBufferFactory

yarp::dev::CanBuffer	canBuffer

yarp::os::Contactable *	dumpPort

yarp::os::PortWriterBuffer< yarp::os::Bottle > *	dumpWriter

std::mutex *	dumpMutex

yarp::os::Stamp	lastStamp

ICanMessageNotifier *	busLoadMonitor

unsigned int	bufferSize

double	delay

Detailed Description

Messages are forwarded to each raw subdevice given the CAN node ID.

The documentation for this class was generated from the following files:

Public Member Functions